U.S. patent application number 15/136844 was filed with the patent office on 2016-08-18 for locomotion assisting apparatus with integrated tilt sensor.
This patent application is currently assigned to ReWalk Robotics Ltd.. The applicant listed for this patent is ReWalk Robotics Ltd.. Invention is credited to Amit GOFFER, Oren TAMARI.
Application Number | 20160235616 15/136844 |
Document ID | / |
Family ID | 45973574 |
Filed Date | 2016-08-18 |
United States Patent
Application |
20160235616 |
Kind Code |
A1 |
GOFFER; Amit ; et
al. |
August 18, 2016 |
LOCOMOTION ASSISTING APPARATUS WITH INTEGRATED TILT SENSOR
Abstract
A locomotion assisting exoskeleton device includes a plurality
of braces, including a trunk support for affixing to the part of
the torso of a person and leg segment braces each leg segment brace
for connecting to a section of a leg of the person. The device
further includes at least one motorized joint for connecting two of
the braces and for providing relative angular movement between the
two braces. The device includes at least one tilt sensor mounted on
the exoskeleton device for sensing a tilt of the exoskeleton, and a
controller for receiving sensed signals from the tilt sensor and
programmed with an algorithm with instructions for actuating the
motorized joints in accordance with the sensed signals.
Inventors: |
GOFFER; Amit; (Kiryat Tivon,
IL) ; TAMARI; Oren; (Pardesia, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
ReWalk Robotics Ltd. |
Marlborough |
MA |
US |
|
|
Assignee: |
ReWalk Robotics Ltd.
Marlborough
MA
|
Family ID: |
45973574 |
Appl. No.: |
15/136844 |
Filed: |
April 22, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
12909746 |
Oct 21, 2010 |
|
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15136844 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61H 2003/007 20130101;
A61H 2201/5002 20130101; A61H 3/00 20130101; A61H 2201/5069
20130101; A61H 2201/5097 20130101; A61H 2201/5058 20130101; A61H
2201/5071 20130101; A61H 1/024 20130101; A61H 2201/165 20130101;
A61H 1/0244 20130101 |
International
Class: |
A61H 3/00 20060101
A61H003/00; A61H 1/02 20060101 A61H001/02 |
Claims
1. A locomotion assisting exoskeleton device comprising: a
plurality of braces including a trunk support for affixing to the
part of the torso of a person and leg segment braces each leg
segment brace for connecting to a section of a leg of the person;
at least one motorized joint for connecting two braces of said
plurality of braces and for providing relative angular movement
between the two braces; at least one tilt sensor mounted on the
exoskeleton device for sensing a tilt of the exoskeleton; and a
controller for receiving sensed signals from a tilt sensor of said
at least one tilt sensor and programmed with an algorithm with
instructions for actuating the motorized joints in accordance with
the sensed signals.
2. A device as claimed in claim 1, comprising a remote control.
3. A device as claimed in claim 1, wherein the algorithm comprises
operating the motorized joint to swing a trailing leg forward when
a sensed tilt sensed by a tilt sensor of said at least one tilt
sensor exceeds a threshold value.
4. A device as claimed in claim 1, wherein the algorithm comprises
operating the motorized joint to extend a leading leg backward when
a sensed tilt sensed by a tilt sensor of said at least one tilt
sensor exceeds a threshold value.
5. A device as claimed in claim 1, wherein a tilt sensor of said at
least one tilt sensor is mounted on the trunk support.
6. A device as claimed in claim 1, wherein a tilt sensor of said at
least one tilt sensor is mounted on a component of the exoskeleton
device whose tilt is substantially equal to the tilt of the trunk
support.
7. A device as claimed in claim 1, Wherein a joint of said at least
one motorized joint is provided with an angle sensor for sensing an
angle between the two braces connected by the joint.
8. A device as claimed in claim 7, wherein the algorithm includes
instructions for actuating the motorized joints in accordance with
the sensed angle.
9. A device as claimed in claim 8, wherein the algorithm comprises
halting forward motion of a leg when the sensed angle is within a
predetermined range of angles.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to assisted walking devices.
More particularly, the present invention relates to a locomotion
assisting apparatus with an integrated tilt sensor.
BACKGROUND OF THE INVENTION
[0002] A motorized locomotion assistance exoskeleton device may
assist locomotion of a person with a disability in the lower
portion of the body. For example, such a device may assist a
disabled user to walk or perform other tasks that ordinarily
require use of the legs. Such devices have been described, for
example, by Goffer in U.S. Pat. No. 7,153,242 and by Goffer et al.
in U.S. 2010/0094188.
[0003] A device as described typically is designed to be attached
to pails of the lower portion and part of the trunk of a person's
body. Such a described device typically includes motorized joints
and actuators for flexing and extending the parts of the body to
which it is attached. Such a described device typically includes
sensors for ascertaining the state of the device and the body
during locomotion. For example, a described device may include one
or more angle sensors for measuring angles of the joints, tilt
sensors for measuring a tilt angle of the body, and pressure or
force sensors for measuring the force exerted on the ground or
other surface.
[0004] Such a described device may include various controls for
controlling the device. For example, the device typically includes
a mode selection device for selecting a mode of operation, for
example, a gait. Typically, a controller that controls operation of
the device is designed to receive signals from the device sensors,
and to control operation of the device on the basis of the received
sensor signals. For example, the sensor signals may indicate
whether a gait or action being performed by the device is
proceeding as expected. In addition, a user to whom the device is
attached may deliberately perform an action that affects a reading
of one or more sensors. The controller may be programmed to
initiate, continue, or discontinue performance of an action based
on the sensor readings. Thus, the person may at least partially
control operation of the, device by leaning or performing other
actions that may affect sensor readings.
[0005] Continuing study and experience with the design and use of
motorized locomotion assistance exoskeleton devices have led to
increased understanding of their operation. It is an object of the
present invention to provide a motorized locomotion assistance
exoskeleton device with a novel design based on this increased
understanding.
[0006] Other aims and advantages of the present invention will
become apparent after reading the present invention and reviewing
the accompanying drawings.
SUMMARY OF THE INVENTION
[0007] There is thus provided, in accordance with some embodiments
of the present invention, a locomotion assisting exoskeleton
device. The device includes a plurality of braces including a trunk
support for affixing to the part of the torso of a person and leg
segment braces each leg segment brace for connecting to a section
of a leg of the person. The device also includes at least one
motorized joint for connecting two braces of said plurality of
braces and for providing relative angular movement between the two
braces; at least one tilt sensor mounted on the exoskeleton device
for sensing a tilt of the exoskeleton; and a controller for
receiving sensed signals from the tilt sensor, and programmed with
an algorithm with instructions for actuating the motorized joints
in accordance with the sensed signals.
[0008] Furthermore, in accordance with some embodiments of the
present invention, the device includes a remote control.
[0009] Furthermore, in accordance with some embodiments of the
present invention, the algorithm comprises operating the motorized
joint to swing a trailing leg forward when a sensed tilt sensed by
the tilt sensor exceeds a threshold value.
[0010] Furthermore, in accordance with some embodiments of the
present invention, the algorithm comprises operating the motorized
joint to extend a leading leg backward when a sensed tilt sensed by
the tilt sensor exceeds a threshold value.
[0011] Furthermore, in accordance with some embodiments of the
present invention, the tilt sensor is mounted on the trunk
support.
[0012] Furthermore, in accordance with some embodiments of the
present invention, the tilt sensor is mounted on a component of the
exoskeleton device whose tilt is substantially equal to the tilt of
the trunk support.
[0013] Furthermore, in accordance with some embodiments of the
present invention, a joint is provided with an angle sensor for
sensing an angle between the two braces connected by the joint.
[0014] Furthermore, in accordance with some embodiments of the
present invention, the algorithm includes instructions for
actuating the motorized joints in accordance with the sensed
angle.
[0015] Furthermore, in accordance with some embodiments of the
present invention, the algorithm includes halting forward motion of
a leg when the sensed angle is within a predetermined range of
angles.
BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to better understand the present invention, and
appreciate its practical applications, the following Figures are
provided and referenced hereafter. It should be noted that the
Figures are given as examples only and in no way limit the scope of
the invention. Like components are denoted by like reference
numerals.
[0017] FIG. 1A is a side view of a locomotion assisting exoskeleton
device in accordance with some embodiments of the present
invention.
[0018] FIG. 1B is a front view of the apparatus shown in FIG.
1A.
[0019] FIG. 1C is a block diagram of control of the apparatus shown
in FIG. 1A.
[0020] FIG. 2A schematically illustrates a method for controlling a
locomotion assisting exoskeleton device in accordance with
embodiments of the present invention to enable a user to take a
step.
[0021] FIG. 2B is a flow chart of a method for taking a step, in
accordance with embodiments of the present invention.
DETAILED DESCRIPTION OF EMBODIMENTS
[0022] In the following detailed description, numerous specific
details are set forth in order to provide a thorough understanding
of the invention. However, it will be understood by those of
ordinary skill in the art that the invention may be practiced
without these specific details. In other instances, well-known
methods, procedures, components, modules, units and/or circuits
have not been described in detail so as not to obscure the
invention.
[0023] Embodiments of the invention may include an article such as
a computer or processor readable medium, or a computer or processor
storage medium, such as for example a memory, a disk drive, or a
USB flash memory, encoding, including or storing instructions,
e.g., computer-executable instructions, which when executed by a
processor or controller, carry out methods disclosed herein.
[0024] A locomotion assisting exoskeleton device in accordance with
embodiments of the present invention typically includes one or more
braces or supports. Each brace may be strapped on, or otherwise
attached to, a part of the body of the user. Typically, one or more
trunk supports may be attached to the trunk, in particular, the
lower torso, of the user. Other braces may be attached to sections
of the user's legs. Each brace or support of the apparatus is
typically joined via a joint or other connection to one or more
other components of the apparatus. A joint may enable relative
movement between the joined components. For example, a joint may
enable relative motion between a brace and an adjacent brace.
[0025] The locomotion assisting exoskeleton device may include one
or more motorized actuation assemblies. A motorized actuation
assembly may be operated to move one or more parts of the user's
body. For example, a motorized actuation assembly may bend a joint.
Coordinated bending of one or more joints may propel one or more
limbs of the user's body.
[0026] Typically, a joint may be provided with one or more sensors
for sensing the relative positions and orientations of various
components of the apparatus. The relative positions of components
of the apparatus may indicate the relative positions of body parts
to which the components are attached. For example, a sensor may
measure and generate a signal indicating, for example, the angle
between two braces joined at a joint. The locomotion assisting
exoskeleton device includes one or more tilt sensors. Experience
acquired with regard assisted walking with an exoskeleton device
has shown that a forward tilt of a user wearing the exoskeleton
device may be effectively utilized for operation of the device. For
example, a forward tilt of the user may indicate that the user
wants to walk forward. For example, when the user is tilting
forward, the apparatus may be operated to initiate a forward step.
For example, walking forward may include a repeated sequence of leg
swings. A leg swing may include a sequence of operations that
includes raising a trailing leg, extending the raised leg forward,
and lowering the leg. Typically, user's hands may move forward to
cause a forward tilt (or "prevented fall"), raising a trailing leg
from the ground. When the trailing leg is clear of the ground, the
exoskeleton device may initiate a the above sequence of operations.
The above sequence of operation may thus swinging the initially
trailing leg forward to rest on the ground at a point ahead of the
initially leading leg. In this manner, the apparatus may assist the
user to walk forward.
[0027] Therefore, a tilt sensor of a locomotion assisting
exoskeleton device in accordance with embodiments of the present
invention is located on a part of the apparatus that tilts with the
device. For example, the tilt sensor may be located on a brace of
the apparatus that is designed to attach to the lower or upper
torso of the user. For example, the tilt sensor may be mounted on a
side, back, or front panel of a trunk support designed to be
attached to the user's lower torso. The tilt sensor may
alternatively be mounted on any component of the exoskeleton device
that is substantially rigidly attached to such a brace. For
example, a backpack of the exoskeleton device may be rigidly
attached to a trunk support, or attached via a substantially rigid
connector that enables no more than a small amount of give. In such
a case, the tilt sensor may be mounted on or within the
backpack.
[0028] FIG. 1A is a side view of a locomotion assisting exoskeleton
device in accordance with some embodiments of the present
invention. FIG. 1B is a front view of the apparatus shown in FIG.
1A. FIG. 1C is a block diagram of control of the apparatus shown in
FIG. 1A.
[0029] Components of exoskeleton device 10 may be attached to the
body of a user. For example, a trunk support 12 may attach to the
user's lower torso above the pelvis. Leg segment braces 14 may each
attach to a section of the user's leg. Bands or straps, such as
straps 22, connected to trunk support 12 and leg segment braces 14,
may at least partially wrap around parts of the user's body. Thus,
straps 22 may ensure that each component brace of exoskeleton
device 10 attaches to an appropriate corresponding part of the
user's body. Thus, motion of the component brace may move the
attached body part. Typically, components of exoskeleton device 10
may be adjustable so as to enable optimally fitting exoskeleton
device 10 to the body of a specific user.
[0030] Component braces of exoskeleton device 10, such as trunk
support 12 and leg segment braces 14, may connect to one another
via joints 16. For example, two leg segment braces 14 may connect
at knee joint 16a. A leg segment brace 14 and trunk support 12 may
connect at hip joint 16b. Each joint 16 may include an actuator 32
for actuating relative angular motion between components connected
by each joint 16.
[0031] Each actuator may be controlled by controller 26. For
example, controller 26 may be located in backpack 18 of exoskeleton
device 10. Alternatively, components of controller 26 may be
incorporated into trunk support 12, leg segment braces 14, or other
components of exoskeleton device 10. For example, controller 26 may
include a plurality of intercommunicating electronic devices. The
intercommunication may be wired or wireless. Similarly,
communication between controller 26 and components of exoskeleton
device 10, such as an actuator 32 or a sensor or control, may be
wired or wireless.
[0032] Controller 26 may be powered by power supply 28. For
example, power supply 28 may include one or more rechargeable
batteries and appropriate electronic circuitry to enable recharging
of the batteries (e.g. by connection to an external power supply),
Power supply 28 may be located in backpack 18.
[0033] Each joint 16 may also be provided with an angle sensor 30
for sensing a relative angle between components connected by joint
16. An output signal from each angle sensor 30 may be communicated
to controller 26. The output signal may indicate a current relative
angle between connected components.
[0034] Tilt sensor 24 may be mounted on trunk support 12.
Alternatively, tilt sensor 24 may be located on any other component
of exoskeleton device 10 whose angle of tilt reflects the angle of
tilt of the trunk support of exoskeleton device 10. An output
signal from tilt sensor 24 may be communicated to controller 26.
The output signal may indicate, for example, an angle between trunk
support 12 and the vertical.
[0035] Exoskeleton device 10, in accordance with some embodiments
of the present invention, may include one or more additional
auxiliary sensors 31. For example, auxiliary sensors 31 may include
one or more pressure-sensitive sensors. For example, a
pressure-sensitive sensor may measure a ground force exerted on
exoskeleton device 10. For example, a ground force sensor may be
included in a surface designed for attachment to the bottom of the
user's foot.
[0036] Exoskeleton device 10 may be provided with one or more
controls for enabling user input or other external input. For
example, exoskeleton device 10 may include a remote control set 20.
Remote control set 20 may include one or more pushbuttons,
switches, touch-pads, or other similar manually operated controls
that a user may operate. Typically, remote control set 20 may
include one or more controls for selecting a mode of operation. For
example, operation of a control of remote control set 20 may
generate an output signal for communication to controller 26. The
communicated signal may indicate a user request to initiate or
continue a mode of operation. For example, the communicated signal
may indicate to the controller to initiate or continue a walking
forward operation when appropriate sensor signals are received. As
another example, remote control set 20 may include a control for
turning exoskeleton device 10 on or off.
[0037] Typically, remote control set 20 may be designed for
mounting in a location that is readily accessible by the user. For
example, remote control set 20 may be provided with a band or
strap. The strap may enable attaching remote control set 20 to the
user's wrist or arm (as shown in FIGS. 1A and 1B). In this manner,
remote control set 20 may be conveniently operated by fingers the
arm opposite the arm on which it is mounted arm. Alternatively,
remote control set 20, or part of it, may be mounted on a crutch,
on the front of the user's torso, on the front of trunk support 12,
or any other readily accessible location. Alternatively, remote
control set 20 may include several detached controls, each
communicating separately with controller 26 and each mounted at a
separate location.
[0038] A locomotion assisting exoskeleton device in accordance with
embodiments of the present invention may be operated to assist a
disabled user to walk. For example, one or more joints 16 and leg
segment braces 14 may be controlled so as to move the legs in a
manner to enable a selected activity. For example, joints 16 and
leg segment braces 14 may be manipulated in order to enable a user
to walk. Control of a joint 16 may depend on previous actions
performed and on input from at least an angle sensor 30 and tilt
sensor 24.
[0039] FIG. 2A schematically illustrates a method for controlling a
locomotion assisting exoskeleton device in accordance with
embodiments of the present invention to enable a user to take a
step. FIG. 213 is a flow chart of a method for taking a step, in
accordance with embodiments of the present invention. The
illustrated method includes swinging leg 44a, which is initially
(stage 40a) a trailing leg, forward. At the conclusion of the step
(stage 40j), leg 44a is positioned ahead of initially leading leg
44b. The method may then be repeated with the legs 44a and 44b
reversing their roles. The illustrated method assumes that the user
is provided with, and is capable of manipulating, a pair of
crutches. In the description below, reference is also made to
components shown in FIGS. 1A-1C.
[0040] In order to be effectively assisted by the illustrated
method, a user may require training and practice. For example,
training may entail practice sessions using the exoskeleton device
in conjunction with such other equipment as parallel bars or a
walking frame. Various stages of a training program may teach a
user how to maintain balance and how to walk when using the
exoskeleton device. In addition, during the training program, a
control program stored in a memory associated with controller 26
(FIG. 1C) may be adapted to a particular user. For example, a
parameter indicating a threshold tilt angle or joint flexing angle
may be adjusted in order to suit the capabilities or preferences of
a particular user. The user may learn how to coordinate
manipulation of the crutches with actions by the exoskeleton device
in order to optimize effectiveness of the assisted walking.
[0041] For example, in stage 40a of the illustrated method, it is
assumed that leg 44b is initially a leading leg, and leg 44a is
initially a trailing leg. Both legs 44a and 44b are initially
resting on the ground or other supporting surface, and both legs
44a and 44b approximately equally support the weight of the user's
body. The user may signal a desire to walk forward, e.g. by
operating a control of remote control 20 (step 48 of FIG. 2B). The
user may initiate a step by moving crutches 42 forward. (Although
crutches 42 are schematically illustrated in the form of a single
line segment, it should be understood that typically a pair of
crutches is referred to. The crutches, typically positioned on
opposite sides of the user's body, are typically moved forward in
parallel with one another.) As crutches 42 are moved forward,
exoskeleton device 10, with the user, tilts forward.
[0042] During this time, the controller monitors tilt sensor 24
(step 50 of FIG. 2B) to determine whether the indicated tilt is
sufficient (e.g. greater than a threshold tilt angle value) to
enable swinging leg 44a forward (step 52). If the indicated tilt
angle is not sufficient, a time of a timer may be compared with a
threshold time (step 53). For example, a timer may start when
operation of a control of remote control 20 indicates a desire to
initiate a walk sequence, or when tilt sensor 24 indicates
beginning to tilt. Alternatively, a plurality of timers (or timer
functions) may monitor time elapsed from a plurality of trigger
events. If an elapsed time indicates timing out, exoskeleton device
10 may initiate a sequence to exit from a walk mode (step 55). For
example, exoskeleton device 10 may initiate a "standing stance"
mode to bring the user to a standing position. Alternatively,
operation may stop until a further control signal is received.
[0043] If a timeout is not sensed, monitoring of tilt signals
continues (returning to step 50).
[0044] In stage 40b, the user continues to move crutches 42
forward, and exoskeleton device, 10 with the user, continues to
tilt forward. The weight of the user's body begins to shift toward
leg 44b, which is a leading leg.
[0045] In stage 40c, crutches 42 are in a forward position. The
user's elbows begin to bend so as to enable exoskeleton device 10
to continue to tilt forward. Leg 44a begins to be raised so as to
discontinue contact with the ground. The weight of the user's body
is now supported by leg 44b and crutches 42.
[0046] In stage 40d, continued bending of the user's elbow may
cause exoskeleton device 10 to tilt forward sufficiently to trigger
exoskeleton device 10 to initiate a step. For example, at this
point, a tilt sensor 24 may generate a tilt signal. The generated
tilt signal may be processed (e.g. by controller 26) to indicate
that the tilt angle of exoskeleton device 10 is equal or greater
than a threshold angle. A tilt angle equal to the threshold angle
may trigger initiation of a step sequence (step 52). Controller 26
may then, upon receiving the generated tilt signal, initiate a
control program to operate exoskeleton device 10 so as to start a
step by swinging leg 44a forward.
[0047] In stage 40e, exoskeleton device 10 begins to swing leg 44a
forward. For example, controller 26 may cause knee joint 16a, of
leg 44a to flex by a predetermined angle. Concurrently, controller
26 may cause hip joint 16b of leg 44a to begin flexing forward,
thus swinging leg 44a forward (step 54). During motion of leg 44a,
controller 26 may monitor output signals of one or more angle
sensors 30 (step 56) to verify that leg 44a is moving in accordance
with predetermined criteria. Monitoring of the output signal may
also indicate whether the step is complete, or whether to continue
forward motion of leg 44a (step 58).
[0048] In stage 40f, exoskeleton device 10 continues to swing leg
44a forward. For example, controller 26 may continue to flex hip
joint 16b of leg 44a so as to swing leg 44a forward. Concurrently,
hip joint 16b' of leg 44b extends to raise the trunk 46 towards an
upright position (similar to its position in stage 40a). The user
may push downward on crutches 42 in order to help this
operation.
[0049] In stage 40g, exoskeleton device 10 continues to move leg
44a forward and 44b backward to as to approach each other. For
example, controller 26 may continue to operate hip joint 16b of leg
44a so as to swing leg 44a forward, and hip joint 10b' and of leg
41b to extend and straighten leg 44b.
[0050] In stage 40h, exoskeleton device 10 continues to move leg
44a forward ahead of leg 44b and to extend leg 44b. For example,
controller 26 may continue to operate hip joint 16b of leg 44a so
as to swing leg 44a forward and hip joint 10b' of leg 44b to
straighten leg 44b.
[0051] In stage 40i, exoskeleton device 10 continues to move leg
44a forward and leg 44b backward. For example, controller 26 may
continue to operate hip joint 16b of leg 44a and extend hip joint
16b' of leg 44b so as to swing leg 44a forward. Concurrently,
exoskeleton device 10 may extend knee joint 16a to straighten leg
44a. For example, controller 26 may receive a signal from angle
sensors 30 of hip joints 16b and 16b'. The sensed signal may
indicate that a sensed angle is within a predetermined range of
angles indicating a completed step (step 58). Controller 26 may
then operate knee joint 16a of leg 44a so as to extend and
straighten leg 44a. During the straightening operation, controller
26 may monitor signals from angle sensors 30 of knee joint 16a of
leg 44a to verify when the leg is sufficiently straight so as to
stop operation of knee joint 16a.
[0052] In stage 40j, leg 44a is extended forward and is a leading
leg, while leg 44b is a trailing leg. Thus, stage 40j is
essentially identical to stage 40a, with the roles of legs 44a and
44b reversed. Thus, exoskeleton device 10 has performed a single
step. If the walk mode is still selected (step 59), stages 40a-40j
may be repeated, with the roles of legs 44a and 44b reversed
(return to step 50). Continued operation in this manner may enable
a user to whom exoskeleton device 10 is attached to walk.
[0053] If walk mode is no longer selected, the walking operation
may stop. For example, exoskeleton device 10 may cause the user to
change to a standing stance (step 60). Alternatively, the device
may stop operation and ignore any further tilt signals.
[0054] As discussed above, a user may practice walking with
exoskeleton device 10 in order learn to coordinate body movements
and crutches movements with operation of exoskeleton device 10. For
example, a training program may begin with practicing balance and
walking using exoskeleton device 10 between parallel bars. The user
may then progress to learning to balance using exoskeleton device
10 with crutches or a walking frame. Finally, the user may practice
walking using exoskeleton device 10 and crutches, so as to execute
the method illustrated in FIG. 2A.
[0055] In accordance with some embodiments of the present
invention, an operation method may include monitoring a signal
generated by tilt sensor 24 in conjunction with signals generated
by one or more angle sensors 30. For example, the signals may
indicate an unexpected configuration or combination of sensor
readings. In this case, controller 26 may execute one or more
activities to verify proper operation or to prevent further
unexpected situations. For example, controller 26 may generate an
audible, visible, or palpable alert to the user, using an
appropriate warning device. Concurrently, controller 26 may pause
or stop operation of exoskeleton device 10 until receiving a
confirmation signal from the user. For example, the user may
operate remote control 20 to indicate continuation of an operation,
or alternatively, aborting an operation. When aborting an
operation, controller 26 may operate exoskeleton device 10 so as to
assist in maintaining the stability of the user. Similarly, if the
generated signals are consistent with an emergency situation, such
as falling, controller 26 may operate exoskeleton device 10 in a
predetermined manner so as to minimize any risk of injury to the
user.
[0056] In accordance with some embodiments of the present
invention, exoskeleton device 10 may be provided with one or more
ground force sensors. For example, a ground force sensor may be
located on a foot support designed to support a foot of the user.
For example, execution of an operation by exoskeleton device 10 may
be dependent on receiving one or more predetermined signals from
the ground force sensors.
[0057] It should be clear that the description of the embodiments
and attached Figures set forth in this specification serves only
for a better understanding of the invention, without limiting its
scope.
[0058] It should also be clear that a person skilled in the art,
after reading the present specification could make adjustments or
amendments to the attached Figures and above described embodiments
that would still be covered by the present invention.
* * * * *